lucasnolasco/pointcloud_to_laserscan

Converts a 3D Point Cloud into a 2D laser scan.

ROS pointcloud <-> laserscan converters

Fork from ros-perception/pointcloud_to_laserscan. This fork adds a feature for correcting the pointcloud height based on IMU data, which allows undesired points to be discarded even if the robot is inclinated. This package provides components to convert sensor_msgs/PointCloud2 messages to sensor_msgs/LaserScan messages and back.

pointcloud_to_laserscan::PointCloudToLaserScanNode

This component projects sensor_msgs/PointCloud2 messages into sensor_msgs/LaserScan messages.

Published Topics

• scan (sensor_msgs/LaserScan) - The output laser scan.

Subscribed Topics

• cloud_in (sensor_msgs/PointCloud2) - The input point cloud. No input will be processed if there isn't at least one subscriber to the scan topic.

• imu/data (sensor_msgs/imu) - Data provided by the IMU module. If no information is published on this topic, the correction on the pointcloud height won't be applied.

Parameters

• min_height (double, default: 0.0) - The minimum height to sample in the point cloud in meters.
• max_height (double, default: 1.0) - The maximum height to sample in the point cloud in meters.
• angle_min (double, default: -π/2) - The minimum scan angle in radians.
• angle_max (double, default: π/2) - The maximum scan angle in radians.
• angle_increment (double, default: π/360) - Resolution of laser scan in radians per ray.
• queue_size (double, default: detected number of cores) - Input point cloud queue size.
• scan_time (double, default: 1.0/30.0) - The scan rate in seconds. Only used to populate the scan_time field of the output laser scan message.
• range_min (double, default: 0.45) - The minimum ranges to return in meters.
• range_max (double, default: 4.0) - The maximum ranges to return in meters.
• target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
• transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
• use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.
• imu_around_pi(boolean, default: false) - Indicates if the IMU is placed on a way which its pitch floats around 180°.
• imu_offset (double, default: 0.0) - Approx. IMU pitch error.

pointcloud_to_laserscan::LaserScanToPointCloudNode

This component re-publishes sensor_msgs/LaserScan messages as sensor_msgs/PointCloud2 messages.

Published Topics

• cloud (sensor_msgs/PointCloud2) - The output point cloud.

Subscribed Topics

• scan_in (sensor_msgs/LaserScan) - The input laser scan. No input will be processed if there isn't at least one subscriber to the cloud topic.

Parameters

• queue_size (double, default: detected number of cores) - Input laser scan queue size.
• target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
• transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
• use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.